Real Time Control of a Khepera Robot using Genetic Programming ...

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Transcript of Real Time Control of a Khepera Robot using Genetic Programming ...

Page 1: Real Time Control of a Khepera Robot using Genetic Programming ...

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Page 16: Real Time Control of a Khepera Robot using Genetic Programming ...

Select four individualsfrom the population

Real time GP control architecture

For all four individualsselected do:

Read proximity sensorsand instantiate the valuesin the current individual:

Execute the individual and send the resultingmotor speeds to the robot

Sleep 300 ms to await theresults of the action.

Read proximity sensors again and compute fitness.

Let the two best individualshave two offsprings through mutation andcrossover.

Replace the two worstindividuals with the two children:

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Best Individual

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Page 20: Real Time Control of a Khepera Robot using Genetic Programming ...

Read RobotSensor Values

Use CurrentSensor values andSearch throughall motor speedsfor best predicted fitness

Send Best motorspeed to motors

Calculate fintessfrom new Sensor Values

Read RobotSensor Values

Sleep 300ms

Store old sensor valuesused motor speedsand fitness in memoryas an event vector

PLANNING

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MemorybufferReturn sum ofdifference betweenpredicted and actual fitness

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Page 24: Real Time Control of a Khepera Robot using Genetic Programming ...

Select four individualsfrom the population

Real time GP control architecture

For all four indivdulasselected do:

Store the individualsfitness

Let the two individuals with best fitness have two offsprings throughmutation and crossover:

Replace the two worstindividuals with the two childeren:

Loop through a all eventvectors summing up theerrors between predictedand actual fitness

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Page 25: Real Time Control of a Khepera Robot using Genetic Programming ...

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Page 26: Real Time Control of a Khepera Robot using Genetic Programming ...

Complex Behavior

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